v2.6.1 - Dynamic task creation and destruction

 - bug: support for task self-destruct in OnDisable method
 - feature: Example 19: dynamic task creation and destruction

README

@@ -81,6 +81,10 @@ Check out what TaskScheduler can do:
 
 Changelog:
 =========
+v2.6.1:
+   2018-02-13 - Bug: Support for task self-destruction in the OnDisable method.
+                Example 19: dynamic task creation and destruction.
+
 v2.6.0:
    2018-01-30 - _TASK_TIMEOUT compilation directive: Task overall timeout functionality
    2018-01-30 - Support for ESP32

examples/Scheduler_example19_Dynamic_Tasks/Scheduler_example19_Dynamic_Tasks.ino

@@ -0,0 +1,540 @@
+/**
+    TaskScheduler Test sketch - test of Task destructor
+    Test case:
+      Main task runs every 100 milliseconds 100 times and in 50% cases generates a task object
+      which runs 1 to 10 times with 100 ms to 5 s interval, and then destroyed.
+
+      This sketch uses a FreeMemory library: https://github.com/McNeight/MemoryFree
+*/
+
+#define _TASK_WDT_IDS // To enable task unique IDs
+#define _TASK_SLEEP_ON_IDLE_RUN  // Compile with support for entering IDLE SLEEP state for 1 ms if not tasks are scheduled to run
+#define _TASK_LTS_POINTER       // Compile with support for Local Task Storage pointer
+#include <TaskScheduler.h>
+
+#include <MemoryFree.h>
+
+Scheduler ts;
+
+// Callback methods prototypes
+void MainLoop();
+
+// Statis task
+Task tMain(100*TASK_MILLISECOND, 100, MainLoop, &ts, true);
+
+
+void Iteration();
+bool OnEnable();
+void OnDisable();
+
+int noOfTasks = 0;
+
+void MainLoop() {
+  Serial.print(millis()); Serial.print("\t");
+  Serial.print("MainLoop run: ");
+  int i = tMain.getRunCounter();
+  Serial.print(i); Serial.print(F(".\t"));
+
+  if ( random(0, 101) > 50 ) {  // generate a new task only in 50% of cases
+    // Generating another task
+    long p = random(100, 5001); // from 100 ms to 5 seconds
+    long j = random(1, 11); // from 1 to 10 iterations)
+    Task *t = new Task(p, j, Iteration, &ts, false, OnEnable, OnDisable);
+
+    Serial.print(F("Generated a new task:\t")); Serial.print(t->getId()); Serial.print(F("\tInt, Iter = \t"));
+    Serial.print(p); Serial.print(", "); Serial.print(j); Serial.print(F("\tFree mem="));
+    Serial.print(freeMemory()); Serial.print(F("\tNo of tasks=")); Serial.println(++noOfTasks);
+    t->enable();
+  }
+  else {
+    Serial.println(F("Skipped generating a task"));
+  }
+}
+
+
+void Iteration() {
+  Task &t = ts.currentTask();
+
+  Serial.print(millis()); Serial.print("\t");
+  Serial.print("Task N"); Serial.print(t.getId()); Serial.print(F("\tcurrent iteration: "));
+  int i = t.getRunCounter();
+  Serial.println(i);
+}
+
+bool OnEnable() {
+  // to-do: think of something to put in here.
+  return  true;
+}
+
+void OnDisable() {
+  Task *t = &ts.currentTask();
+
+  Serial.print(millis()); Serial.print("\t");
+  Serial.print("Task N"); Serial.print(t->getId()); Serial.print(F("\tfinished and destroyed.\tFree mem="));
+  Serial.print(freeMemory());Serial.print(F("\tNo of tasks=")); Serial.println(--noOfTasks);
+  delete t;
+
+}
+
+/**
+   Standard Arduino setup and loop methods
+*/
+void setup() {
+  Serial.begin(115200);
+
+  randomSeed(analogRead(0) + analogRead(5));
+  noOfTasks = 0;
+
+  Serial.println(F("Dynamic Task Creation/Destruction Example"));
+  Serial.println();
+  Serial.print(F("Free mem="));
+  Serial.print(freeMemory()); Serial.print(F("\tNo of tasks=")); Serial.println(noOfTasks);
+  Serial.println();
+}
+
+void loop() {
+  ts.execute();
+}
+
+
+/* Output on Arduino Uno:
+ *  
+ *  Compile:
+
+Sketch uses 5312 bytes (16%) of program storage space. Maximum is 32256 bytes.
+Global variables use 282 bytes (13%) of dynamic memory, leaving 1766 bytes for local variables. Maximum is 2048 bytes.
+
+ * Execution: 
+  
+Dynamic Task Creation/Destruction Example
+
+Free mem=1758  No of tasks=0
+
+1 MainLoop run: 1.  Generated a new task: 2 Int, Iter =   421, 3  Free mem=1701 No of tasks=1
+8 Task N2 current iteration: 1
+100 MainLoop run: 2.  Generated a new task: 3 Int, Iter =   4099, 9 Free mem=1656 No of tasks=2
+102 Task N3 current iteration: 1
+200 MainLoop run: 3.  Skipped generating a task
+300 MainLoop run: 4.  Generated a new task: 4 Int, Iter =   1795, 1 Free mem=1611 No of tasks=3
+302 Task N4 current iteration: 1
+305 Task N4 finished and destroyed. Free mem=1613 No of tasks=2
+400 MainLoop run: 5.  Skipped generating a task
+429 Task N2 current iteration: 2
+500 MainLoop run: 6.  Skipped generating a task
+600 MainLoop run: 7.  Skipped generating a task
+700 MainLoop run: 8.  Generated a new task: 5 Int, Iter =   4623, 7 Free mem=1611 No of tasks=3
+702 Task N5 current iteration: 1
+800 MainLoop run: 9.  Generated a new task: 6 Int, Iter =   4987, 4 Free mem=1566 No of tasks=4
+802 Task N6 current iteration: 1
+850 Task N2 current iteration: 3
+850 Task N2 finished and destroyed. Free mem=1568 No of tasks=3
+900 MainLoop run: 10. Generated a new task: 7 Int, Iter =   600, 4  Free mem=1566 No of tasks=4
+902 Task N7 current iteration: 1
+1000  MainLoop run: 11. Skipped generating a task
+1100  MainLoop run: 12. Generated a new task: 8 Int, Iter =   2530, 1 Free mem=1521 No of tasks=5
+1102  Task N8 current iteration: 1
+1105  Task N8 finished and destroyed. Free mem=1523 No of tasks=4
+1200  MainLoop run: 13. Skipped generating a task
+1300  MainLoop run: 14. Generated a new task: 9 Int, Iter =   2215, 7 Free mem=1521 No of tasks=5
+1302  Task N9 current iteration: 1
+1400  MainLoop run: 15. Skipped generating a task
+1500  MainLoop run: 16. Skipped generating a task
+1502  Task N7 current iteration: 2
+1600  MainLoop run: 17. Skipped generating a task
+1700  MainLoop run: 18. Skipped generating a task
+1800  MainLoop run: 19. Skipped generating a task
+1900  MainLoop run: 20. Skipped generating a task
+2000  MainLoop run: 21. Generated a new task: 10  Int, Iter =   189, 10 Free mem=1476 No of tasks=6
+2002  Task N10  current iteration: 1
+2100  MainLoop run: 22. Generated a new task: 11  Int, Iter =   2898, 9 Free mem=1431 No of tasks=7
+2102  Task N7 current iteration: 3
+2105  Task N11  current iteration: 1
+2191  Task N10  current iteration: 2
+2200  MainLoop run: 23. Generated a new task: 12  Int, Iter =   1691, 6 Free mem=1386 No of tasks=8
+2202  Task N12  current iteration: 1
+2300  MainLoop run: 24. Generated a new task: 13  Int, Iter =   1448, 7 Free mem=1341 No of tasks=9
+2304  Task N13  current iteration: 1
+2380  Task N10  current iteration: 3
+2400  MainLoop run: 25. Generated a new task: 14  Int, Iter =   3919, 7 Free mem=1296 No of tasks=10
+2403  Task N14  current iteration: 1
+2500  MainLoop run: 26. Generated a new task: 15  Int, Iter =   3745, 5 Free mem=1251 No of tasks=11
+2503  Task N15  current iteration: 1
+2569  Task N10  current iteration: 4
+2600  MainLoop run: 27. Skipped generating a task
+2700  MainLoop run: 28. Skipped generating a task
+2702  Task N7 current iteration: 4
+2702  Task N7 finished and destroyed. Free mem=1253 No of tasks=10
+2758  Task N10  current iteration: 5
+2800  MainLoop run: 29. Generated a new task: 16  Int, Iter =   2144, 1 Free mem=1251 No of tasks=11
+2803  Task N16  current iteration: 1
+2806  Task N16  finished and destroyed. Free mem=1253 No of tasks=10
+2900  MainLoop run: 30. Generated a new task: 17  Int, Iter =   4618, 10  Free mem=1251 No of tasks=11
+2904  Task N17  current iteration: 1
+2947  Task N10  current iteration: 6
+3000  MainLoop run: 31. Skipped generating a task
+3100  MainLoop run: 32. Generated a new task: 18  Int, Iter =   2885, 6 Free mem=1206 No of tasks=12
+3103  Task N18  current iteration: 1
+3136  Task N10  current iteration: 7
+3200  MainLoop run: 33. Skipped generating a task
+3300  MainLoop run: 34. Skipped generating a task
+3325  Task N10  current iteration: 8
+3400  MainLoop run: 35. Skipped generating a task
+3500  MainLoop run: 36. Generated a new task: 19  Int, Iter =   2250, 4 Free mem=1161 No of tasks=13
+3503  Task N19  current iteration: 1
+3514  Task N10  current iteration: 9
+3518  Task N9 current iteration: 2
+3600  MainLoop run: 37. Skipped generating a task
+3700  MainLoop run: 38. Generated a new task: 20  Int, Iter =   1689, 7 Free mem=1116 No of tasks=14
+3703  Task N10  current iteration: 10
+3706  Task N20  current iteration: 1
+3709  Task N10  finished and destroyed. Free mem=1118 No of tasks=13
+3750  Task N13  current iteration: 2
+3800  MainLoop run: 39. Generated a new task: 21  Int, Iter =   2607, 5 Free mem=1116 No of tasks=14
+3803  Task N21  current iteration: 1
+3893  Task N12  current iteration: 2
+3900  MainLoop run: 40. Generated a new task: 22  Int, Iter =   1390, 6 Free mem=1071 No of tasks=15
+3903  Task N22  current iteration: 1
+4000  MainLoop run: 41. Generated a new task: 23  Int, Iter =   3340, 8 Free mem=1026 No of tasks=16
+4003  Task N23  current iteration: 1
+4100  MainLoop run: 42. Skipped generating a task
+4200  MainLoop run: 43. Skipped generating a task
+4201  Task N3 current iteration: 2
+4300  MainLoop run: 44. Skipped generating a task
+4400  MainLoop run: 45. Generated a new task: 24  Int, Iter =   4083, 2 Free mem=981  No of tasks=17
+4403  Task N24  current iteration: 1
+4500  MainLoop run: 46. Generated a new task: 25  Int, Iter =   4510, 1 Free mem=936  No of tasks=18
+4503  Task N25  current iteration: 1
+4506  Task N25  finished and destroyed. Free mem=938  No of tasks=17
+4600  MainLoop run: 47. Generated a new task: 26  Int, Iter =   4782, 10  Free mem=936  No of tasks=18
+4603  Task N26  current iteration: 1
+4700  MainLoop run: 48. Generated a new task: 27  Int, Iter =   641, 6  Free mem=891  No of tasks=19
+4702  Task N27  current iteration: 1
+4800  MainLoop run: 49. Generated a new task: 28  Int, Iter =   695, 5  Free mem=846  No of tasks=20
+4802  Task N28  current iteration: 1
+4900  MainLoop run: 50. Generated a new task: 29  Int, Iter =   3520, 3 Free mem=801  No of tasks=21
+4903  Task N29  current iteration: 1
+5000  MainLoop run: 51. Generated a new task: 30  Int, Iter =   3091, 9 Free mem=756  No of tasks=22
+5002  Task N11  current iteration: 2
+5006  Task N30  current iteration: 1
+5100  MainLoop run: 52. Skipped generating a task
+5198  Task N13  current iteration: 3
+5200  MainLoop run: 53. Skipped generating a task
+5293  Task N22  current iteration: 2
+5300  MainLoop run: 54. Generated a new task: 31  Int, Iter =   4359, 9 Free mem=711  No of tasks=23
+5303  Task N31  current iteration: 1
+5325  Task N5 current iteration: 2
+5343  Task N27  current iteration: 2
+5392  Task N20  current iteration: 2
+5400  MainLoop run: 55. Generated a new task: 32  Int, Iter =   837, 4  Free mem=666  No of tasks=24
+5403  Task N32  current iteration: 1
+5497  Task N28  current iteration: 2
+5501  MainLoop run: 56. Generated a new task: 33  Int, Iter =   274, 8  Free mem=621  No of tasks=25
+5505  Task N33  current iteration: 1
+5584  Task N12  current iteration: 3
+5600  MainLoop run: 57. Generated a new task: 34  Int, Iter =   923, 7  Free mem=576  No of tasks=26
+5603  Task N34  current iteration: 1
+5700  MainLoop run: 58. Generated a new task: 35  Int, Iter =   1007, 8 Free mem=531  No of tasks=27
+5703  Task N35  current iteration: 1
+5732  Task N9 current iteration: 3
+5753  Task N19  current iteration: 2
+5778  Task N33  current iteration: 2
+5789  Task N6 current iteration: 2
+5800  MainLoop run: 59. Skipped generating a task
+5900  MainLoop run: 60. Generated a new task: 36  Int, Iter =   608, 4  Free mem=486  No of tasks=28
+5903  Task N36  current iteration: 1
+5984  Task N27  current iteration: 3
+5988  Task N18  current iteration: 2
+6000  MainLoop run: 61. Generated a new task: 37  Int, Iter =   4043, 3 Free mem=441  No of tasks=29
+6003  Task N37  current iteration: 1
+6052  Task N33  current iteration: 3
+6100  MainLoop run: 62. Skipped generating a task
+6192  Task N28  current iteration: 3
+6200  MainLoop run: 63. Skipped generating a task
+6239  Task N32  current iteration: 2
+6248  Task N15  current iteration: 2
+6300  MainLoop run: 64. Skipped generating a task
+6322  Task N14  current iteration: 2
+6326  Task N33  current iteration: 4
+6400  MainLoop run: 65. Skipped generating a task
+6410  Task N21  current iteration: 2
+6500  MainLoop run: 66. Skipped generating a task
+6510  Task N36  current iteration: 2
+6525  Task N34  current iteration: 2
+6600  MainLoop run: 67. Skipped generating a task
+6600  Task N33  current iteration: 5
+6625  Task N27  current iteration: 4
+6646  Task N13  current iteration: 4
+6683  Task N22  current iteration: 3
+6700  MainLoop run: 68. Generated a new task: 38  Int, Iter =   1907, 9 Free mem=396  No of tasks=30
+6703  Task N38  current iteration: 1
+6709  Task N35  current iteration: 2
+6800  MainLoop run: 69. Skipped generating a task
+6874  Task N33  current iteration: 6
+6887  Task N28  current iteration: 4
+6900  MainLoop run: 70. Generated a new task: 39  Int, Iter =   2697, 1 Free mem=351  No of tasks=31
+6903  Task N39  current iteration: 1
+6906  Task N39  finished and destroyed. Free mem=353  No of tasks=30
+7000  MainLoop run: 71. Generated a new task: 40  Int, Iter =   2849, 4 Free mem=351  No of tasks=31
+7003  Task N40  current iteration: 1
+7076  Task N32  current iteration: 3
+7081  Task N20  current iteration: 3
+7100  MainLoop run: 72. Skipped generating a task
+7118  Task N36  current iteration: 3
+7148  Task N33  current iteration: 7
+7200  MainLoop run: 73. Skipped generating a task
+7266  Task N27  current iteration: 5
+7275  Task N12  current iteration: 4
+7300  MainLoop run: 74. Generated a new task: 41  Int, Iter =   4466, 4 Free mem=306  No of tasks=32
+7303  Task N41  current iteration: 1
+7343  Task N23  current iteration: 2
+7400  MainLoop run: 75. Skipped generating a task
+7422  Task N33  current iteration: 8
+7422  Task N33  finished and destroyed. Free mem=308  No of tasks=31
+7448  Task N34  current iteration: 3
+7500  MainLoop run: 76. Generated a new task: 42  Int, Iter =   2133, 3 Free mem=306  No of tasks=32
+7503  Task N42  current iteration: 1
+7522  Task N17  current iteration: 2
+7582  Task N28  current iteration: 5
+7582  Task N28  finished and destroyed. Free mem=308  No of tasks=31
+7600  MainLoop run: 77. Skipped generating a task
+7700  MainLoop run: 78. Skipped generating a task
+7716  Task N35  current iteration: 3
+7726  Task N36  current iteration: 4
+7726  Task N36  finished and destroyed. Free mem=353  No of tasks=30
+7800  MainLoop run: 79. Generated a new task: 43  Int, Iter =   4113, 6 Free mem=351  No of tasks=31
+7803  Task N43  current iteration: 1
+7898  Task N11  current iteration: 3
+7900  MainLoop run: 80. Skipped generating a task
+7907  Task N27  current iteration: 6
+7907  Task N27  finished and destroyed. Free mem=353  No of tasks=30
+7913  Task N32  current iteration: 4
+7913  Task N32  finished and destroyed. Free mem=398  No of tasks=29
+7947  Task N9 current iteration: 4
+8000  MainLoop run: 81. Skipped generating a task
+8003  Task N19  current iteration: 3
+8073  Task N22  current iteration: 4
+8093  Task N30  current iteration: 2
+8094  Task N13  current iteration: 5
+8100  MainLoop run: 82. Skipped generating a task
+8200  MainLoop run: 83. Generated a new task: 44  Int, Iter =   3389, 1 Free mem=396  No of tasks=30
+8203  Task N44  current iteration: 1
+8206  Task N44  finished and destroyed. Free mem=398  No of tasks=29
+8300  MainLoop run: 84. Generated a new task: 45  Int, Iter =   3548, 10  Free mem=396  No of tasks=30
+8303  Task N3 current iteration: 3
+8306  Task N45  current iteration: 1
+8371  Task N34  current iteration: 4
+8400  MainLoop run: 85. Skipped generating a task
+8422  Task N29  current iteration: 2
+8485  Task N24  current iteration: 2
+8485  Task N24  finished and destroyed. Free mem=398  No of tasks=29
+8500  MainLoop run: 86. Generated a new task: 46  Int, Iter =   4962, 2 Free mem=396  No of tasks=30
+8503  Task N46  current iteration: 1
+8600  MainLoop run: 87. Skipped generating a task
+8609  Task N38  current iteration: 2
+8700  MainLoop run: 88. Skipped generating a task
+8723  Task N35  current iteration: 4
+8770  Task N20  current iteration: 4
+8800  MainLoop run: 89. Skipped generating a task
+8873  Task N18  current iteration: 3
+8900  MainLoop run: 90. Skipped generating a task
+8966  Task N12  current iteration: 5
+9000  MainLoop run: 91. Skipped generating a task
+9017  Task N21  current iteration: 3
+9100  MainLoop run: 92. Skipped generating a task
+9200  MainLoop run: 93. Skipped generating a task
+9294  Task N34  current iteration: 5
+9300  MainLoop run: 94. Skipped generating a task
+9385  Task N26  current iteration: 2
+9400  MainLoop run: 95. Generated a new task: 47  Int, Iter =   3556, 9 Free mem=351  No of tasks=31
+9403  Task N47  current iteration: 1
+9463  Task N22  current iteration: 5
+9500  MainLoop run: 96. Generated a new task: 48  Int, Iter =   1226, 3 Free mem=306  No of tasks=32
+9503  Task N48  current iteration: 1
+9542  Task N13  current iteration: 6
+9600  MainLoop run: 97. Generated a new task: 49  Int, Iter =   2850, 9 Free mem=261  No of tasks=33
+9603  Task N49  current iteration: 1
+9635  Task N42  current iteration: 2
+9661  Task N31  current iteration: 2
+9700  MainLoop run: 98. Skipped generating a task
+9730  Task N35  current iteration: 5
+9800  MainLoop run: 99. Generated a new task: 50  Int, Iter =   2782, 10  Free mem=216  No of tasks=34
+9803  Task N50  current iteration: 1
+9851  Task N40  current iteration: 2
+9900  MainLoop run: 100.  Skipped generating a task
+9948  Task N5 current iteration: 3
+9993  Task N15  current iteration: 3
+10045 Task N37  current iteration: 2
+10162 Task N9 current iteration: 5
+10217 Task N34  current iteration: 6
+10241 Task N14  current iteration: 3
+10253 Task N19  current iteration: 4
+10253 Task N19  finished and destroyed. Free mem=218  No of tasks=33
+10459 Task N20  current iteration: 5
+10516 Task N38  current iteration: 3
+10657 Task N12  current iteration: 6
+10657 Task N12  finished and destroyed. Free mem=263  No of tasks=32
+10683 Task N23  current iteration: 3
+10728 Task N48  current iteration: 2
+10737 Task N35  current iteration: 6
+10776 Task N6 current iteration: 3
+10796 Task N11  current iteration: 4
+10853 Task N22  current iteration: 6
+10853 Task N22  finished and destroyed. Free mem=308  No of tasks=31
+10990 Task N13  current iteration: 7
+10990 Task N13  finished and destroyed. Free mem=353  No of tasks=30
+11140 Task N34  current iteration: 7
+11140 Task N34  finished and destroyed. Free mem=398  No of tasks=29
+11184 Task N30  current iteration: 3
+11624 Task N21  current iteration: 4
+11744 Task N35  current iteration: 7
+11758 Task N18  current iteration: 4
+11768 Task N41  current iteration: 2
+11768 Task N42  current iteration: 3
+11769 Task N42  finished and destroyed. Free mem=443  No of tasks=28
+11851 Task N45  current iteration: 2
+11915 Task N43  current iteration: 2
+11942 Task N29  current iteration: 3
+11942 Task N29  finished and destroyed. Free mem=488  No of tasks=27
+11954 Task N48  current iteration: 3
+11954 Task N48  finished and destroyed. Free mem=533  No of tasks=26
+12140 Task N17  current iteration: 3
+12148 Task N20  current iteration: 6
+12377 Task N9 current iteration: 6
+12399 Task N3 current iteration: 4
+12423 Task N38  current iteration: 4
+12452 Task N49  current iteration: 2
+12585 Task N50  current iteration: 2
+12700 Task N40  current iteration: 3
+12751 Task N35  current iteration: 8
+12751 Task N35  finished and destroyed. Free mem=578  No of tasks=25
+12958 Task N47  current iteration: 2
+13464 Task N46  current iteration: 2
+13464 Task N46  finished and destroyed. Free mem=623  No of tasks=24
+13694 Task N11  current iteration: 5
+13739 Task N15  current iteration: 4
+13837 Task N20  current iteration: 7
+13837 Task N20  finished and destroyed. Free mem=668  No of tasks=23
+14020 Task N31  current iteration: 3
+14023 Task N23  current iteration: 4
+14088 Task N37  current iteration: 3
+14088 Task N37  finished and destroyed. Free mem=713  No of tasks=22
+14160 Task N14  current iteration: 4
+14167 Task N26  current iteration: 3
+14231 Task N21  current iteration: 5
+14231 Task N21  finished and destroyed. Free mem=758  No of tasks=21
+14275 Task N30  current iteration: 4
+14330 Task N38  current iteration: 5
+14571 Task N5 current iteration: 4
+14592 Task N9 current iteration: 7
+14592 Task N9 finished and destroyed. Free mem=803  No of tasks=20
+14643 Task N18  current iteration: 5
+15302 Task N49  current iteration: 3
+15367 Task N50  current iteration: 3
+15399 Task N45  current iteration: 3
+15549 Task N40  current iteration: 4
+15549 Task N40  finished and destroyed. Free mem=848  No of tasks=19
+15763 Task N6 current iteration: 4
+15763 Task N6 finished and destroyed. Free mem=893  No of tasks=18
+16028 Task N43  current iteration: 3
+16234 Task N41  current iteration: 3
+16237 Task N38  current iteration: 6
+16498 Task N3 current iteration: 5
+16514 Task N47  current iteration: 3
+16592 Task N11  current iteration: 6
+16758 Task N17  current iteration: 4
+17363 Task N23  current iteration: 5
+17366 Task N30  current iteration: 5
+17483 Task N15  current iteration: 5
+17483 Task N15  finished and destroyed. Free mem=938  No of tasks=17
+17528 Task N18  current iteration: 6
+17528 Task N18  finished and destroyed. Free mem=983  No of tasks=16
+18079 Task N14  current iteration: 5
+18144 Task N38  current iteration: 7
+18149 Task N50  current iteration: 4
+18152 Task N49  current iteration: 4
+18379 Task N31  current iteration: 4
+18947 Task N45  current iteration: 4
+18949 Task N26  current iteration: 4
+19194 Task N5 current iteration: 5
+19490 Task N11  current iteration: 7
+20051 Task N38  current iteration: 8
+20070 Task N47  current iteration: 4
+20141 Task N43  current iteration: 4
+20457 Task N30  current iteration: 6
+20597 Task N3 current iteration: 6
+20700 Task N41  current iteration: 4
+20700 Task N41  finished and destroyed. Free mem=1028 No of tasks=15
+20703 Task N23  current iteration: 6
+20931 Task N50  current iteration: 5
+21002 Task N49  current iteration: 5
+21376 Task N17  current iteration: 5
+21958 Task N38  current iteration: 9
+21958 Task N38  finished and destroyed. Free mem=1073 No of tasks=14
+21998 Task N14  current iteration: 6
+22388 Task N11  current iteration: 8
+22495 Task N45  current iteration: 5
+22738 Task N31  current iteration: 5
+23548 Task N30  current iteration: 7
+23626 Task N47  current iteration: 5
+23713 Task N50  current iteration: 6
+23731 Task N26  current iteration: 5
+23817 Task N5 current iteration: 6
+23852 Task N49  current iteration: 6
+24043 Task N23  current iteration: 7
+24254 Task N43  current iteration: 5
+24696 Task N3 current iteration: 7
+25286 Task N11  current iteration: 9
+25286 Task N11  finished and destroyed. Free mem=1118 No of tasks=13
+25917 Task N14  current iteration: 7
+25917 Task N14  finished and destroyed. Free mem=1163 No of tasks=12
+25994 Task N17  current iteration: 6
+26043 Task N45  current iteration: 6
+26496 Task N50  current iteration: 7
+26639 Task N30  current iteration: 8
+26702 Task N49  current iteration: 7
+27097 Task N31  current iteration: 6
+27182 Task N47  current iteration: 6
+27383 Task N23  current iteration: 8
+27383 Task N23  finished and destroyed. Free mem=1208 No of tasks=11
+28367 Task N43  current iteration: 6
+28367 Task N43  finished and destroyed. Free mem=1253 No of tasks=10
+28440 Task N5 current iteration: 7
+28440 Task N5 finished and destroyed. Free mem=1298 No of tasks=9
+28513 Task N26  current iteration: 6
+28795 Task N3 current iteration: 8
+29277 Task N50  current iteration: 8
+29552 Task N49  current iteration: 8
+29591 Task N45  current iteration: 7
+29730 Task N30  current iteration: 9
+29730 Task N30  finished and destroyed. Free mem=1343 No of tasks=8
+30612 Task N17  current iteration: 7
+30738 Task N47  current iteration: 7
+31456 Task N31  current iteration: 7
+32059 Task N50  current iteration: 9
+32402 Task N49  current iteration: 9
+32402 Task N49  finished and destroyed. Free mem=1388 No of tasks=7
+32894 Task N3 current iteration: 9
+32894 Task N3 finished and destroyed. Free mem=1433 No of tasks=6
+33139 Task N45  current iteration: 8
+33295 Task N26  current iteration: 7
+34294 Task N47  current iteration: 8
+34841 Task N50  current iteration: 10
+34841 Task N50  finished and destroyed. Free mem=1478 No of tasks=5
+35230 Task N17  current iteration: 8
+35815 Task N31  current iteration: 8
+36687 Task N45  current iteration: 9
+37850 Task N47  current iteration: 9
+37850 Task N47  finished and destroyed. Free mem=1523 No of tasks=4
+38077 Task N26  current iteration: 8
+39848 Task N17  current iteration: 9
+40174 Task N31  current iteration: 9
+40174 Task N31  finished and destroyed. Free mem=1568 No of tasks=3
+40235 Task N45  current iteration: 10
+40235 Task N45  finished and destroyed. Free mem=1613 No of tasks=2
+42859 Task N26  current iteration: 9
+44466 Task N17  current iteration: 10
+44466 Task N17  finished and destroyed. Free mem=1658 No of tasks=1
+47641 Task N26  current iteration: 10
+47641 Task N26  finished and destroyed. Free mem=1703 No of tasks=0
+
+ */

library.json

@@ -16,7 +16,7 @@
       "maintainer": true
     }
   ],
-  "version": "2.6.0",
+  "version": "2.6.1",
   "frameworks": "arduino",
   "platforms": "*"
 }

library.properties

@@ -1,5 +1,5 @@
 name=TaskScheduler
-version=2.6.0
+version=2.6.1
 author=Anatoli Arkhipenko <arkhipenko@hotmail.com>
 maintainer=Anatoli Arkhipenko <arkhipenko@hotmail.com>
 sentence=A light-weight cooperative multitasking library for arduino and esp8266 microcontrollers.

src/TaskScheduler.h

@@ -130,7 +130,10 @@
 //    2018-01-30 - _TASK_TIMEOUT compilation directive: Task overall timeout functionality
 //    2018-01-30 - ESP32 support (experimental)
 //                 (Contributed by Marco Tombesi: https://github.com/baggior)
-
+//
+// v2.6.1:
+//    2018-02-13 - Bug: support for task self-destruction in the OnDisable method
+//                 Example 19: dynamic tasks creation and destruction.
 
 #include <Arduino.h>
 #include "TaskSchedulerDeclarations.h"
@@ -793,6 +796,7 @@ bool Scheduler::execute() {
       unsigned long t2 = 0;
 #endif  // ARDUINO_ARCH_ESP8266
 
+	Task *nextTask;  // support for deleting the task in the onDisable method
     iCurrent = iFirst;
     
     while (iCurrent) {
@@ -802,7 +806,7 @@ bool Scheduler::execute() {
         if (iHighPriority) idleRun = iHighPriority->execute() && idleRun; 
         iCurrentScheduler = this;
 #endif  // _TASK_PRIORITY
-
+		nextTask = iCurrent->iNext;
         do {
             if ( iCurrent->iStatus.enabled ) {
 
@@ -865,7 +869,7 @@ bool Scheduler::execute() {
                 }
             }
         } while (0);    //guaranteed single run - allows use of "break" to exit 
-        iCurrent = iCurrent->iNext;
+        iCurrent = nextTask;
 #if defined (ARDUINO_ARCH_ESP8266) || defined (ARDUINO_ARCH_ESP32)
         yield();
 #endif  // ARDUINO_ARCH_ESP8266